Control Oriented LFT Modeling of a Non Linear MIMO system
نویسندگان
چکیده
ABSTRACT: This paper presents a procedure for parametric uncertainty modeling of a highly nonlinear multiinput multioutput (MIMO) cross coupled system for the purpose of Linear Fractional Transformation (LFT) model realization. A novel technique has been considered to represent the control oriented LFT modeling of linear parametric models. A systematic approach is to find the equivalent representations of manipulation of rationally dependent parametric matrices. Model uncertainty arises when the system gain and the parameters are not precisely known, or may vary over a given range. One may also have unstructured uncertainties, by which one means complex parameter variations satisfying given magnitude bounds. Linear Fractional Transformation is objects of study for robust and Linear Parameter Varying (LPV) control. For robust control LFT model is desirable. A nonlinear strongly coupled dynamics laboratory twin rotor MIMO system, which constitutes challenges for many classical linear control techniques, has been consider as a candidate system. A two-degree-of-freedom (2DOF) design framework has been adopted for the formulation of the LFT modeling.
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